/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RW_GRASPPLANNING_GRASP2D_HPP_
#define RW_GRASPPLANNING_GRASP2D_HPP_

#include <rw/math/Vector2D.hpp>
#include <rw/sensor/Contact2D.hpp>

namespace rw { namespace graspplanning {

    /**
     * @brief a grasp is a set of contacts between the object to be grasped and
     * the robot gripper.
     */

    class Grasp2D
    {
      public:
        Grasp2D (int nrOfContacts) : contacts (nrOfContacts), approach (nrOfContacts) {}

        void scale (double clerance)
        {
            for (int i = 0; i < 3; i++)
                contacts[i].p += normalize (approach[i]) * clerance;
        }

        double phi, psi;
        rw::math::Vector2D<> center;
        std::vector< rw::sensor::Contact2D > contacts;
        std::vector< rw::math::Vector2D<> > approach;
    };
}}    // namespace rw::graspplanning

#endif /*GRASP_HPP_*/
